A multi-stage regulation strategy of space manipulators with a free-swinging joint failure

To ensure tasks can be completed after a free-swinging joint failure occurs, a multi-stage regulation strategy of space manipulators is proposed. Considering all terms of the dynamics equation, an evaluation model of the regulation ability (EMRA) of active joints over the fault joint is established based on the fuzzy entropy. And then a multi-stage regulation strategy based on the EMRA is designed to regulate the fault joint. The strategy divides the regulation process into several stages, and select a certain active joint to regulative the fault joint in every stage. With this multi-stage regulation strategy, the fault joint can be regulated to the desired angle without huge torque on regulative joints. The simulation is carried out with a 7-DOF space manipulator, verifying the correctness and effectiveness of the multi-stage regulation strategy. The strategy has three advantages: Coriolis and centrifugal terms are both considered for the first time in selecting the regulative joint, making the selection result more in line with the actual regulation process; The influence of the model uncertainty is eliminated in establishing the EMRA, making the evaluation of regulative ability more precise; The fault joint is successfully regulated to the desired angle without huge torque on regulative joints.     

用亚稳态正电子素研究络合的瞬态反应（Ⅲ）

本文用自制的装有 BaF_2探头的高探测效率的正电子湮没寿命谱仪测量了在室温下正电子素 o-Ps 与 p-RPhG 及 m-RPhG(R=NO_2,Cl,H,CH_3,cH_3O)在20%(V/V)二氧六环水溶液中的络合形成速度常数。实验结果表明,这些o-Ps-M 络合形成速度常数 K 值均与作为配位体的 p-RPhG、m-RPhG 的碱性解离常数 K 的负对数 pK_2 呈线性函数。这表明上述瞬态络合反应满足线性自由能关系,由此可推断出上述络合反应的一些重要性质。     

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with primary goat embryonic fibroblast showed no difference from traditional feederlayer-based culture method used in mouse and human. The putative primary EG colonies were multilayer clumps ofcompact cel     

The Origin of Mercury

Mercury’s unusually high mean density has always been attributed to special circumstances that occurred during the formation of the planet or shortly thereafter, and due to the planet’s close proximity to the Sun. The nature of these special circumstances is still being debated and several scenarios, all proposed more than 20 years ago, have been suggested. In all scenarios, the high mean density is the result of severe fractionation occurring between silicates and iron. It is the origin of this fractionation that is at the centre of the debate: is it due to differences in condensation temperature and/or in material characteristics (e.g. density, strength)? Is it because of mantle evaporation due to the close proximity to the Sun? Or is it due to the blasting off of the mantle during a giant impact? In this paper we investigate, in some detail, the fractionation induced by a giant impact on a proto-Mercury having roughly chondritic elemental abundances. We have extended the previous work on this hypothesis in two significant directions. First, we have considerably increased the resolution of the simulation of the collision itself. Second, we have addressed the fate of the ejecta following the impact by computing the expected reaccretion timescale and comparing it to the removal timescale from gravitational interactions with other planets (essentially Venus) and the Poynting–Robertson effect. To compute the latter, we have determined the expected size distribution of the condensates formed during the cooling of the expanding vapor cloud generated by the impact. We find that, even though some ejected material will be reaccreted, the removal of the mantle of proto-Mercury following a giant impact can indeed lead to the required long-term fractionation between silicates and iron and therefore account for the anomalously high mean density of the planet. Detailed coupled dynamical–chemical modeling of this formation mechanism should be carried out in such a way as to allow explicit testing of the giant impact hypothesis by forthcoming space missions (e.g. MESSENGER and BepiColombo).     

培养学生英语口语交际能力的策略探讨

文章就大学生英语口语交际能力存在的问题进行了分析,探讨如何提高英语口语交际能力的策略。     

无人机自由编队飞行的补偿模糊神经网络控制

为了克服当前提出的无人机编队飞行的不足，提出一种新的无人机编队飞行概念——自由编队飞行，制定了相关的避让规则，用补偿模糊神经网络进行训练，实现自由编队飞行的补偿模糊神经网络控制。仿真显示，编队飞行的飞机能按照规则自主改变航路进行避让，表明了该方法的有效性。     

一种具有较强泛化能力的神经网络模型研究与应用

分析了影响神经网络模型泛化能力的因素。以电解铝过程中氧化铝浓度的神经网络软测量为例 ,提出了利用先验知识确定网络结构 ,采用特定实验保证样本数量和质量 ,离线训练加在线学习修正模型等措施 ,改善神经网络模型的泛化能力。现场应用表明这些措施是有效的。这样建立的神经网络模型准确 ,泛化能力强 ,为实现过程的先进控制提供了可靠保障     

逆合成孔径雷达信号处理方法研究进展

在简要评述国内外现有的逆合成孔径雷达（ISAR）信号处理的运动补偿和成象方法之后，介绍了南京航空航天大学ISAR课题组近年来在ISAR信号处理方法研究中取得的主要进展，包括基于多散射点定位观点的雷达成象观测模型，基于最大似然原理的同时运动补偿和成象方法，基于最大似然原理的多目标成象方法和基于时频分析的多目标成象方法，以及超分辩成象方法，文末指出了在ISAR信号处理方面有待进一步研究的问题。     

非线性条件下编队卫星周期性相对运动条件

利用编队卫星机械能守恒原理，提出了非线性条件下求解编队卫星周期性相对运动条件的新方法，给出了非线性周期相对运动的初始条件。编队卫星相对距离较近时，利用非线性周期运动条件，可修正Hill方程的初始条件，抑制编队卫星的长期漂移。编队卫星相对距离较大，非线性因素不可忽略时，利用非线性周期运动条件，可找到不需消耗任何燃料的周期性相对运动轨道。最后的数值仿真结果验证了该方法的正确性。     

应用极值搜索算法优化无人机近距离编队飞行

针对无人机近距离编队飞行问题，采用极值搜索算法．解决其中僚机所需动力最小化的控制问题。在近距离飞行编队中，充当僚机的无人机会受到前面长机产生的旋涡力的影响，旋涡力是两飞机间距离的函数，以僚机的俯仰角作为搜索目标，寻求两无人机问的最大旋涡力．使得僚机所消耗动力最小，从而构造出最优的飞行编队结构。通过仿真．验证了所设计的控制方法能够极大地节省僚机的能量。